The vehicle needs to reinforce learning from experience, usually at the cost of collisions, to gain autonomous knowledge and achieve higher rewards. Recent research on the DRL-based driving domain focused on the long-term accumulative reward or averaged reward as the critical performance metrics [1]}, [2]}. Nevertheless, the literature rarely paid attention to a safety measure to evaluate the autonomous performance of DRL models. One recent study [3]} placed a focal point on the vehicle's safety issue but only applied it to a straight four-lane highway road instead of a road traffic junction driving scenario.
